US4585346A - Pathlength controller for three-axis ring laser gyroscope assembly - Google Patents

Pathlength controller for three-axis ring laser gyroscope assembly Download PDF

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Publication number
US4585346A
US4585346A US06/476,447 US47644783A US4585346A US 4585346 A US4585346 A US 4585346A US 47644783 A US47644783 A US 47644783A US 4585346 A US4585346 A US 4585346A
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United States
Prior art keywords
mirrors
gyro
assembly
axis
network
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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US06/476,447
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English (en)
Inventor
Bo H. G. Ljung
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kearfott Guidance and Navigation Corp
Original Assignee
Singer Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Assigned to SINGER COMPANY THE, A CORP. OF NJ reassignment SINGER COMPANY THE, A CORP. OF NJ ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: LJUNG, BO H. G.
Priority to US06/476,447 priority Critical patent/US4585346A/en
Priority to AU20828/83A priority patent/AU561846B2/en
Priority to CA000440346A priority patent/CA1198916A/en
Priority to IL70168A priority patent/IL70168A/xx
Priority to NO834875A priority patent/NO834875L/no
Priority to FR8401043A priority patent/FR2542867B1/fr
Priority to JP59027390A priority patent/JPS59175179A/ja
Priority to GB08405397A priority patent/GB2137013B/en
Priority to IT20013/84A priority patent/IT1173819B/it
Priority to DE19843409152 priority patent/DE3409152A1/de
Priority to SE8401425A priority patent/SE451766B/sv
Publication of US4585346A publication Critical patent/US4585346A/en
Application granted granted Critical
Assigned to KEARFOTT GUIDANCE AND NAVIGATION CORPORATION reassignment KEARFOTT GUIDANCE AND NAVIGATION CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: SINGER COMPANY, THE
Assigned to CONTINENTEL ILLINOIS NATIONAL BANK AND TRUST COMPANY OF CHICAGO, 231 SOUTH LASALLE STREET, CHICAGO, IL 60697 reassignment CONTINENTEL ILLINOIS NATIONAL BANK AND TRUST COMPANY OF CHICAGO, 231 SOUTH LASALLE STREET, CHICAGO, IL 60697 SECURITY INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KEARFOTT GUIDANCE & NAVIGATION CORPORATION
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/58—Turn-sensitive devices without moving masses
    • G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
    • G01C19/66—Ring laser gyrometers
    • G01C19/668—Assemblies for measuring along different axes, e.g. triads
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S3/00—Lasers, i.e. devices using stimulated emission of electromagnetic radiation in the infrared, visible or ultraviolet wave range
    • H01S3/05—Construction or shape of optical resonators; Accommodation of active medium therein; Shape of active medium
    • H01S3/08—Construction or shape of optical resonators or components thereof
    • H01S3/081—Construction or shape of optical resonators or components thereof comprising three or more reflectors
    • H01S3/083—Ring lasers

Definitions

  • the present invention relates to a pathlength controller for a three-axis ring laser gyro assembly having three gyroscopes with six mirrors.
  • the abovedescribed, prior art, cube-shaped, three-axis, gyro cluster for detecting inertial rotation about three axis includes, a cube body, a mirror located at the center of each cube body face, bores formed internally of the body between each mirror and each of four adjacent mirrors thereby forming optical cavities therebetween containing lasing gas, three mutually orthogonal planes passing through the mirrors, each plane including an optical cavity enclosing a closed beam path orthogonal to the other beam paths, a passageway filled with lasing gas located in the body coaxial with a diagonal through the body of the cube, at least one cathode affixed to the body and extending outwardly from an end point of the diagonal passageway, spring means attached to the body for permitting dithering of the body, a plurality of anodes located in each beam path, and shortened passageways filled with lasing gas and connecting the diagonal passageway with each of the beam paths for communicating electrical energy from the cathodes to the ano
  • the abovedescribed problem is overcome by using a controller, which is shared by the three movable mirrors, and which can adjust the pathlength of any one gyroscope, but which does not change the pathlength of the other two gyroscopes.
  • the controller includes, detector assemblies, which connects to the three fixed mirrors, an input matrix assembly, which connects to the detector assembly, and a high voltage amplifier assembly, which connects to the input matrix assembly and which connects to the three movable mirrors. Further, the input matrix assembly comprises three sets of identical parts for ease of manufacture.
  • FIG. 1 is a schematic illustration of the three axis ring laser gyroscope cluster
  • FIG. 2 is a schematic disassembled view of the ring laser gyroscope cluster including anodes, cathodes and spring suspension;
  • FIG. 3 is a circuit diagram of a controller according to the invention.
  • FIG. 4 is a detailed circuit diagram of one portion of the diagram of FIG. 3.
  • Gyro assembly 30 includes a gyro cluster 31 and a controller 32.
  • FIG. 1 a schematic illustration of the gyro cluster 31 is shown.
  • Mirrors 1-6 are respectively positioned in the center of each cube body face.
  • the cube is machined such that a small diameter bore connects adjacent mirrors as illustrated.
  • a closed optical cavity is defined between four coplanar mirrors which are interconnected by bores.
  • a total of three optical cavities are formed between the mirrors as follows: 2, 5, 4, 6; 1, 5, 3, 6; and 1, 2, 3, 4.
  • the cavity defined by these bores is filled with a helium-neon gas mixture which causes lasing in response to electrical excitation to be discussed hereinafter.
  • FIG. 1 illustrates the fact that each mirror is incorporated in the beam path of two orthogonal planes. Otherwise stated, each mirror is utilized for two orthogonal RLGs respectively associated with two separate axes.
  • the bores existing between the mirrors define segments of the previously stated beam paths along which laser light travels.
  • each RLG has laser light propagating in opposite directions. Any frequency difference in these two light waves represents an inertial rotation.
  • the monolithic laser is dithered about an axis that is equally shared by the three RLGs. Dithering, which is an angular vibration imposed upon the body of the RLG is a well-accepted means of avoiding the lock-in effect.
  • the dither axis of the structure shown in FIG. 1 is indicated between reference numerals 7 and 8.
  • FIG. 2 illustrates how a dither spring suspension is arranged.
  • Two dither springs 10 and 11 support the monolithic RLG on the axis 7, 8. These dither springs are well known in the prior art and incorporate a piezoelectric sensor and motor that is connected with a servo amplifier to dither the cube block about the axis 7, 8. The dithering suspension components are well documented in the prior art and will therefore not be elaborated upon herein.
  • Each RLG portion of the invention corresponding to one of the three beam paths, senses a large part of the dither angular rotation about the axis 7, 8 to a sufficient degree to prevent the lock-in effect.
  • Bore 12 is coaxially positioned along axis 7, 8.
  • the cathodes 13 and 14 are fastened to corresponding faces of the cube body and in registry with the openings of bore 12.
  • Each of the dither springs 10 and 11 have central annular openings 10a and 11a to facilitate attachment to the cube body.
  • the outer rims of springs 10 and 11 are fixed while the monolithic RLG undergoes dithering motion.
  • Shortened bores 15, 16 and 17 permit communication between bore 12 and cathodes 13, 14 to each of the three RLG beam paths. Double lines are employed in FIG. 2 to indicate the plasma paths which are symmetrical with respect to the cathode bores 15, 16 and 17.
  • Anodes for the monolithic RLG are denoted by reference numerals 18-23.
  • the path sections in which the anodes are positioned are preferably symmetrical with both the cathodes (as noted earlier) and the laser mode shape. Otherwise, the Langmuir flow induced bias cannot be balanced. This requirement is facilitated by the use of six mirrors having the same radius. Each beam path must be held constant in length, despite changes in temperature, acceleration, etc.
  • each of the three beam paths 2, 5, 4, 6; 1, 5, 3, 6; and 1, 2, 3, 4 will encompass two counterrotating beams.
  • the plasma current in each of the component ring lasers may be individually adjusted by changing the voltage levels on the anodes 18-23, just as individually done in conventional single unit RLGs.
  • Gyro assembly 30 includes the abovedescribed gyro cluster 31 and a controller 32.
  • Cluster 31 includes a first gyro 101 having beam path 2546, a second gyro 102 having beam path 1536, and a third gyro 103 having beam path 1234.
  • Mirrors PLC 2, 3 and 5 which are pathlength control (PLC) transducers, are movable mirrors.
  • Mirrors 1, 4 and 6 are fixed mirrors.
  • Movable mirrors PLC 2, 3, 5, are adjusted automatically, as explained hereafter, in order to maintain constant the three pathlengths.
  • Fixed mirrors 1, 4, 6 are output mirrors for detecting the frequency differences of the counter rotating laser beams.
  • the controller 32 includes, a detector assembly 105, which connects to fixed mirrors 1, 4, 6, an input matrix assembly 106, and a high voltage amplifier assembly 107, which connects to movable mirrors PLC 2, 3, 5.
  • the cube-shaped, three-axis gyro assembly 30 has a cube-shaped support structure 31, which has a reference x-axis, a reference y-axis, and a reference z-axis, that intersect at a common intersection point and that are disposed in quadrature.
  • the first movable mirror 2 and the first fixed mirror 4 are disposed along the x-axis and are equally spaced from the axis intersection point.
  • the second movable mirror 3 and the second fixed mirror 1 are disposed along the Y-axis and are equally spaced from the axis intersection point.
  • the third movable mirror 5 and the third fixed mirror 6 are disposed along the Z-axis and are equally spaced from the axis intersection point.
  • the support structure 31 has the first four-sided passageway, in the plane of the X-axis and Z-axis, which is defined by corner mirrors 2, 5, 4 and 6, and which forms first gyro 101.
  • the support structure 31 also has the second four-sided passageway, in the plane of the Y-axis and the Z-axis, which is defined by corner mirrors 1, 5, 3 and 6 and which forms second gyro 102.
  • the support structure 31 also has the third four-sided passageway, in the plane of the X-axis and Y-axis, which is defined by corner mirrors 1, 2, 3 and 4 and which forms gyro 103.
  • Detector assembly 105 includes power detectors 201, 202, 203, which respectively connect to fixed mirrors 1, 4, 6 of gyros 101, 102, 103, demodulators 204, 205, 206, which respectively connect to detectors 201, 202, 203, and oscillators 207, 208, 209, which respectively connect to demodulators 204, 205, 206.
  • Assembly 105 also has integrators 210, 211, 212, which respectively connect to demodulators 204, 205, 206, and summing junctions 213, 214, 215, which respectively connect to integrators 210, 211, 212.
  • junctions 213, 214, 215 have respective output lines 216, 217, 218, which connect to input matrix assembly 106.
  • Gyro 101 connects, in series, through detector 201, which is also a beam combiner, demodulator 204, and integrator 210 to junction 213.
  • Gyro 102 connects, in series, through detector 202, which is also a beam combiner, demodulator 205, and integrator 211 to junction 214.
  • Gyro 103 connects, in series, through detector 203, which is also a beam combiner, demodulator 206, and integrator 212 to junction 215.
  • Oscillator 207 connects through a capacitor 219 to junction 213, and also connects to demodulator 204.
  • Oscillator 208 connects through a capacitor 220 to junction 214, and also connects to demodulator 205.
  • Oscillator 209 connects through a capacitor 221 to junction 215, and also connects to demodulator 206.
  • Input matrix assembly 106 includes a first network 313, a second network 314, and a third network 315.
  • Network 313 has an output line 316, which connects to amplifier assembly 107.
  • Network 314 has an output line 317, which connects to amplifier assembly 107.
  • Network 315 has an output line 318, which connect to amplifier assembly 107.
  • Amplifier assembly 107 has an amplifier 413, which connects to line 316 and which has an output line 416, an amplifier 414, which connects to line 317 and which has an output line 417, and an amplifier 415, which connects to line 318 and which has an output line 418.
  • Output lines 416, 417, 418 connect respectively to movable mirrors, or pathlength controls (PLC) 2, 3, 5 as shown in FIG. 3.
  • PLC pathlength controls
  • the movable, or flexible, mirror, or pathlength control transducer (PLC) 2 has a housing 513, which connects to amplifier line 416, and pathlength control transducer (PLC) 3, which has a housing 514, which connects to amplifier line 417, and pathlength control transducer (PLC) 5, which has a housing 515, which connects to amplifier line 418.
  • housings 513, 514 and 515 which have respective actuators (not shown), is shown and described in U.S. Pat. Nos. 4, 160,184 and 4,267,478.
  • PLC 2 has a coupling effect 516 on path 2546 of gyro 101, and a coupling effect 519 on path 1234 of gyro 103.
  • PLC 3 has a coupling effect 517 on path 1536 of gyro 102, and a coupling effect 520 on path 1234 of gyro 103.
  • PLC 5 has a coupling effect 518 on path 2546 of gyro 101 and a coupling effect 521 on path 1536 of gyro 102.
  • each of the three pathlengths of gyros 101, 102, 103 must be held constant in length.
  • the movable mirrors 2, 3, 5 are adjusted in order to adjust each of the lengths of the paths of gyros 101, 102, 103, as required.
  • typical network 313 includes resistor R1, which connects to line 216 from junction 213, resistor R2, which connects to line 218 from junction 215, and resistor R3, which connects to line 217 from junction 214.
  • Network 313 also includes an operational amplifier 319, which has a negative terminal 320, that connects to resistors R1 and R2, and a positive terminal 321, that connects to resistor R3.
  • Network 313 also has an output terminal 322, which connects to output line 316 to high voltage amplifier 413.
  • a resistor R4 is connected between the terminals 320 and 322.
  • Another resistor R5 is connected between the terminal 321 and a ground 323.
  • the resistors R1-R5 are identical so that the three networks 313, 314, 315, which are identical, comprise three sets of identical parts including a set of resistors R1-R5 and a set of amplifiers 319.
  • controller 32 The operation of controller 32 is summarized hereafter.
  • the coupling due to the geometry in the monolithic three axis RLG 31 is shown in FIG. 3 as dashed lines.
  • power detector 201, 202 and 203 Such a power detector consists of a PIN-photo detector with preamplifier, attached such that part of the light inside the RLG that leaks through a mirror is intercepted by the diode.
  • the signals from the power detectors 201, 202, 203 are demodulated by demodulators 204, 205, and 206. These are driven from the three oscillators 207, 208 and 209.
  • these three oscillators can be substituted for only one oscillator that drives all demodulators.
  • the signal is integrated in integrators 210, 211 and 212.
  • the AC signal from the oscillators which typically is set to 2000 to 3000 Hz, is summed with the integrator outputs in summing junction 213, 214 and 215.
  • the input matrix network 313 consists of a resistor network.
  • Detailed network 313 is shown in FIG. 4. It consists of the operational amplifier A and five identical resistors R1-R5.
  • the other two networks 314, 315 are identical to network 313.
  • the output on lines 316, 317, 318 from the input matrix networks 313, 314, 315 passes to high voltage amplifiers 413, 414 and 415, now again referring to FIG. 3.
  • the output on lines 416, 417, 418 from these amplifiers 413, 414, 415 are connected to power control transducers PLC 2, 3 and 5.
  • a three-axis gyro assembly having three gyros with three movable mirrors and three fixed mirrors, and having a pathlength controller, which can change the pathlength of any one gyro but will not change the pathlengths of the other two gyros.
  • construction of the input matrix portion of the controller can be made of three sets of identical parts for ease of manufacture.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Power Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Plasma & Fusion (AREA)
  • Gyroscopes (AREA)
  • Lasers (AREA)
US06/476,447 1983-03-17 1983-03-17 Pathlength controller for three-axis ring laser gyroscope assembly Expired - Lifetime US4585346A (en)

Priority Applications (11)

Application Number Priority Date Filing Date Title
US06/476,447 US4585346A (en) 1983-03-17 1983-03-17 Pathlength controller for three-axis ring laser gyroscope assembly
AU20828/83A AU561846B2 (en) 1983-03-17 1983-10-31 Three-axis ring laser gyro pathlength controller
CA000440346A CA1198916A (en) 1983-03-17 1983-11-03 Pathlength controller for three-axis ring laser gyroscope assembly
IL70168A IL70168A (en) 1983-03-17 1983-11-08 Pathlength controller for three-axis ring laser gyroscope assembly
NO834875A NO834875L (no) 1983-03-17 1983-12-29 Ringlasergyroskop med organer til styring av banelengden
FR8401043A FR2542867B1 (fr) 1983-03-17 1984-01-24 Controleur de la longueur de trajet pour ensemble gyroscopique a laser en anneaux a trois axes
JP59027390A JPS59175179A (ja) 1983-03-17 1984-02-17 ジヤイロ装置
GB08405397A GB2137013B (en) 1983-03-17 1984-03-01 Pathlength controller for three-axis ring laser gyroscope assembly
IT20013/84A IT1173819B (it) 1983-03-17 1984-03-12 Regolatore della lunghezza della traiettoria per unita' giroscopica laser ad anello a tre assi
DE19843409152 DE3409152A1 (de) 1983-03-17 1984-03-13 Schaltung zur bahnlaengensteuerung bei ringlaserkreiseln mit drei eingangsachsen
SE8401425A SE451766B (sv) 1983-03-17 1984-03-14 Ringlasergyroenhet innefattande tre gyron

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Application Number Priority Date Filing Date Title
US06/476,447 US4585346A (en) 1983-03-17 1983-03-17 Pathlength controller for three-axis ring laser gyroscope assembly

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US4585346A true US4585346A (en) 1986-04-29

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US06/476,447 Expired - Lifetime US4585346A (en) 1983-03-17 1983-03-17 Pathlength controller for three-axis ring laser gyroscope assembly

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US (1) US4585346A (sv)
JP (1) JPS59175179A (sv)
AU (1) AU561846B2 (sv)
CA (1) CA1198916A (sv)
DE (1) DE3409152A1 (sv)
FR (1) FR2542867B1 (sv)
GB (1) GB2137013B (sv)
IL (1) IL70168A (sv)
IT (1) IT1173819B (sv)
NO (1) NO834875L (sv)
SE (1) SE451766B (sv)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4762415A (en) * 1983-06-29 1988-08-09 British Aerospace Plc Multiple axis ring laser gyroscopes
WO1988008117A2 (en) * 1987-04-06 1988-10-20 The Singer Company Combination beam combiner and beam emitter for ring laser gyroscope
US4836675A (en) * 1987-06-29 1989-06-06 Litton Systems, Inc. Apparatus and method for detecting rotation rate and direction of rotation and providing cavity length control in multioscillator ring laser gyroscopes
CN100424470C (zh) * 2004-10-28 2008-10-08 金世龙 一种激光陀螺调腔方法及其使用的光路程长控制镜
RU2493642C2 (ru) * 2008-02-15 2013-09-20 Таль Способ позиционирования зеркал трехосного лазерного гирометра, в частности, при запуске лазерного гирометра

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4751718A (en) * 1985-05-10 1988-06-14 Honeywell Inc. Dither suspension mechanism for a ring laser angular rate sensor
US4839903A (en) * 1985-06-27 1989-06-13 British Aerospace Public Limited Company Ring laser gyroscopes
IT1221708B (it) * 1987-01-14 1990-07-12 Licinio Ugo Perfezionamenti del sistema ottico-elettronico di determinazione della direzione e della velocita' di un veicolo a mezzo laser interno,applicati anche per rilevare contemporaneamente rotazioni trasversali
JPH0214588A (ja) * 1988-03-07 1990-01-18 Kearfott Guidance & Navigation Corp リングレーザジャイロスコープ
FR2759162B1 (fr) * 1997-02-05 1999-04-30 Sextant Avionique Dispositif de fixation du bloc optique d'un gyrometre laser triaxial sur un dispositif d'activation
FR2759160B1 (fr) * 1997-02-05 1999-04-23 Sextant Avionique Gyrometre laser triaxial symetrise par rapport a son axe d'activation
FR2759161B1 (fr) * 1997-02-05 1999-05-07 Sextant Avionique Dispositif de fixation d'un bloc optique de gyrometre laser sur un mecanisme d'activation
FR2902870B1 (fr) * 2006-06-23 2008-09-05 Thales Sa Dispositif d'amelioration de la duree de vie d'un gyrometre triaxial

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4152071A (en) * 1976-08-02 1979-05-01 Honeywell Inc. Control apparatus
US4477188A (en) * 1982-04-16 1984-10-16 The Singer Company Monolithic three axis ring laser gyroscope

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2512198A1 (fr) * 1980-03-21 1983-03-04 Sfena Gyrometre laser triaxial, monobloc, compact a six miroirs
GB2076213B (en) * 1980-05-09 1983-08-17 Sperry Ltd Ring laser gyroscopes
US4320974A (en) * 1980-06-30 1982-03-23 The Singer Company Pathlength controller for a ring laser cyroscope

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4152071A (en) * 1976-08-02 1979-05-01 Honeywell Inc. Control apparatus
US4477188A (en) * 1982-04-16 1984-10-16 The Singer Company Monolithic three axis ring laser gyroscope

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4762415A (en) * 1983-06-29 1988-08-09 British Aerospace Plc Multiple axis ring laser gyroscopes
WO1988008117A2 (en) * 1987-04-06 1988-10-20 The Singer Company Combination beam combiner and beam emitter for ring laser gyroscope
WO1988008117A3 (en) * 1987-04-06 1988-12-01 Singer Co Combination beam combiner and beam emitter for ring laser gyroscope
US4886364A (en) * 1987-04-06 1989-12-12 Kearfott Guidance & Navigation Corporation Ring laser gyroscope beam combiner for separating and combining circulating laser beams for power and fringe pattern detections
US4836675A (en) * 1987-06-29 1989-06-06 Litton Systems, Inc. Apparatus and method for detecting rotation rate and direction of rotation and providing cavity length control in multioscillator ring laser gyroscopes
CN100424470C (zh) * 2004-10-28 2008-10-08 金世龙 一种激光陀螺调腔方法及其使用的光路程长控制镜
RU2493642C2 (ru) * 2008-02-15 2013-09-20 Таль Способ позиционирования зеркал трехосного лазерного гирометра, в частности, при запуске лазерного гирометра

Also Published As

Publication number Publication date
GB2137013A (en) 1984-09-26
SE8401425D0 (sv) 1984-03-14
FR2542867A1 (fr) 1984-09-21
AU561846B2 (en) 1987-05-21
AU2082883A (en) 1984-09-20
DE3409152A1 (de) 1984-09-20
FR2542867B1 (fr) 1987-08-07
IT8420013A0 (it) 1984-03-12
JPS59175179A (ja) 1984-10-03
CA1198916A (en) 1986-01-07
IT1173819B (it) 1987-06-24
SE8401425L (sv) 1984-09-18
GB8405397D0 (en) 1984-04-04
GB2137013B (en) 1986-10-22
NO834875L (no) 1984-09-18
IL70168A (en) 1988-06-30
SE451766B (sv) 1987-10-26

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